OpenRaiser/Intern-Atlas huggingface dataset:
Grounding Bodily Awareness in Visual Representations for Efficient Policy Learning
Venue: arXiv cs.RO 2026
Year: 2026

Learning effective visual representations for robotic manipulation remains a fundamental challenge due to the complex body dynamics involved in action execution. In this paper, we study how visual representations that carry body-relevant cues can enable efficient policy learning for downstream robotic manipulation tasks. We present $\textbf{I}$nter-token $\textbf{Con}$trast ($\textbf{ICon}$), a contrastive learning method applied to the token-level representations of Vision Transformers (ViTs). ICon enforces a separation in the feature space between agent-specific and environment-specific tokens, resulting in agent-centric visual representations that embed body-specific inductive biases. This framework can be seamlessly integrated into end-to-end policy learning by incorporating the contrastive loss as an auxiliary objective. Our experiments show that ICon not only improves policy performance across various manipulation tasks but also facilitates policy transfer across different robots. The project website: https://inter-token-contrast.github.io/icon/
The Pragmatic Mind of Machines: Tracing the Emergence of Pragmatic Competence in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Current large language models (LLMs) have demonstrated emerging capabilities in social intelligence tasks, including implicature resolution and theory-of-mind reasoning, both of which require substantial pragmatic understanding. However, how LLMs acquire this pragmatic competence throughout the training process remains poorly understood. In this work, we introduce ALTPRAG, a dataset grounded in the pragmatic concept of alternatives, to evaluate whether LLMs at different training stages can accurately infer nuanced speaker intentions. Each instance pairs two equally plausible yet pragmatically divergent continuations and requires the model to (i) infer the speaker's intended meaning and (ii) explain when and why a speaker would choose one utterance over its alternative, thus directly probing pragmatic competence through contrastive reasoning. We systematically evaluate 22 LLMs across 3 key training stages: after pre-training, supervised fine-tuning (SFT), and preference optimization, to examine the development of pragmatic competence. Our results show that even base models exhibit notable sensitivity to pragmatic cues, which improves consistently with increases in model and data scale. Additionally, SFT and RLHF contribute further gains, particularly in cognitive-pragmatic scenarios. These findings highlight pragmatic competence as an emergent and compositional property of LLM training and offer new insights for aligning models with human communicative norms.
Business as Rulesual: A Benchmark and Framework for Business Rule Flow Modeling with LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Extracting structured procedural knowledge from unstructured business documents is a critical yet unresolved bottleneck in process automation. While prior work has focused on extracting linear action flows from instructional texts, such as recipes, it has insufficiently addressed the complex logical structures, including conditional branching and parallel execution, that are pervasive in real-world regulatory and administrative documents. Furthermore, existing benchmarks are limited by simplistic schemas and shallow logical dependencies, restricting progress toward logic-aware large language models.To bridge this Logic Gap, we introduce BREX, a carefully curated benchmark comprising 409 real-world business documents and 2,855 expert-annotated rules. Unlike prior datasets centered on narrow service scenarios, BREX spans over 30 vertical domains, covering scientific, industrial, administrative, and financial regulations. We further propose ExIde, a structure-aware reasoning framework that investigates five distinct prompting strategies, ranging from implicit semantic alignment to executable grounding via pseudo-code generation. This enables explicit modeling of rule dependencies and provides an out-of-the-box framework for different business customers without finetuning their own large language models. We benchmark ExIde using 13 state-of-the-art large language models. Our extensive evaluation reveals that executable grounding serves as a superior inductive bias, significantly outperforming standard prompts in rule extraction. In addition, reasoning-optimized models demonstrate a distinct advantage in tracing long-range and non-linear rule dependencies compared to standard instruction-tuned models.
CoT-RVS: Zero-Shot Chain-of-Thought Reasoning Segmentation for Videos
Venue: arXiv cs.CV 2026
Year: 2026

Reasoning Video Object Segmentation is a challenging task, aiming at generating a mask sequence from an input video given a complex and implicit text query. While existing works finetune Multimodal Large Language Models (MLLM) for the task, they still fail in video inputs given complex temporally-sensitive queries, indicating their lack of temporal and spatial integration in complex scenarios. In this paper, we propose CoT-RVS, a novel framework employing the zero-shot Chain-of-Thought (CoT) capability of MLLM to address these complex challenges by temporal-semantic reasoning: CoT-RVS analyzes the visible objects within a given frame that possibly match the language query (semantic), and chooses a corresponding keyframe for each object that can be observed effortlessly among all frames (temporal). Notably, the CoT-RVS framework is training-free and compatible with closed-source MLLMs, which can be applied to Reasoning Video Instance Segmentation. Our framework's training-free feature further allows its extension to process online video streams, where the CoT is used at test time to update the object of interest when a better target starts to emerge and becomes visible. We conduct extensive experiments on video object segmentation with explicit and implicit queries. The results show that CoT-RVS significantly outperforms previous works in both cases, qualitatively and quantitatively.
ARMS: A Vision for Actor Reputation Metric Systems in the Open-Source Software Supply Chain
Venue: arXiv cs.CR 2026
Year: 2026

Many critical information technology and cyber-physical systems rely on a supply chain of open-source software projects. OSS project maintainers often integrate contributions from external actors. While maintainers can assess the correctness of a pull request, assessing a pull request's cybersecurity implications is challenging. To help maintainers make this decision, we propose that the open-source ecosystem should incorporate Actor Reputation Metrics (ARMS). This capability would enable OSS maintainers to assess a prospective contributor's cybersecurity reputation. To support the future instantiation of ARMS, we identify seven generic security signals from industry standards; map concrete metrics from prior work and available security tools, describe study designs to refine and assess the utility of ARMS, and finally weigh its pros and cons.
GenPO: Generative Diffusion Models Meet On-Policy Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Recent advances in reinforcement learning (RL) have demonstrated the powerful exploration capabilities and multimodality of generative diffusion-based policies. While substantial progress has been made in offline RL and off-policy RL settings, integrating diffusion policies into on-policy frameworks like PPO remains underexplored. This gap is particularly significant given the widespread use of large-scale parallel GPU-accelerated simulators, such as IsaacLab, which are optimized for on-policy RL algorithms and enable rapid training of complex robotic tasks. A key challenge lies in computing state-action log-likelihoods under diffusion policies, which is straightforward for Gaussian policies but intractable for flow-based models due to irreversible forward-reverse processes and discretization errors (e.g., Euler-Maruyama approximations). To bridge this gap, we propose GenPO, a generative policy optimization framework that leverages exact diffusion inversion to construct invertible action mappings. GenPO introduces a novel doubled dummy action mechanism that enables invertibility via alternating updates, resolving log-likelihood computation barriers. Furthermore, we also use the action log-likelihood for unbiased entropy and KL divergence estimation, enabling KL-adaptive learning rates and entropy regularization in on-policy updates. Extensive experiments on eight IsaacLab benchmarks, including legged locomotion (Ant, Humanoid, Anymal-D, Unitree H1, Go2), dexterous manipulation (Shadow Hand), aerial control (Quadcopter), and robotic arm tasks (Franka), demonstrate GenPO's superiority over existing RL baselines. Notably, GenPO is the first method to successfully integrate diffusion policies into on-policy RL, unlocking their potential for large-scale parallelized training and real-world robotic deployment.
v1: Learning to Point Visual Tokens for Multimodal Grounded Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

When thinking with images, humans rarely rely on a single glance: they revisit visual evidence while reasoning. In contrast, most Multimodal Language Models encode an image once to key-value cache and then reason purely in text, making it hard to re-ground intermediate steps. We empirically confirm this: as reasoning chains lengthen, models progressively lose focus on relevant regions. We introduce v1, a lightweight extension for active visual referencing via point-and-copy: the model selects relevant image patches and copies their embeddings back into the reasoning stream. Crucially, our point-and-copy mechanism retrieves patches using their semantic representations as keys, ensuring perceptual evidence remains aligned with the reasoning space. To train this behavior, we build v1, a dataset of 300K multimodal reasoning traces with interleaved grounding annotations. Across multimodal mathematical reasoning benchmarks, v1 consistently outperforms comparable baselines. We plan to release the model checkpoint and data.
Efficient Online Random Sampling via Randomness Recycling
Venue: arXiv cs.DS 2026
Year: 2026

This article studies the fundamental problem of using i.i.d. coin tosses from an entropy source to efficiently generate random variables $X_i \sim P_i$ $(i \ge 1)$, where $(P_1, P_2, \dots)$ is a random sequence of rational discrete probability distributions subject to an \textit{arbitrary} stochastic process. Our method achieves an amortized expected entropy cost within $\varepsilon > 0$ bits of the information-theoretically optimal Shannon lower bound using $O(\log(1/\varepsilon))$ space. This result holds both pointwise in terms of the Shannon information content conditioned on $X_i$ and $P_i$, and in expectation to obtain a rate of $\mathbb{E}[H(P_1) + \dots + H(P_n)]/n + \varepsilon$ bits per sample as $n \to \infty$ (where $H$ is the Shannon entropy). The combination of space, time, and entropy properties of our method improves upon the Knuth and Yao (1976) entropy-optimal algorithm and Han and Hoshi (1997) interval algorithm for online sampling, which require unbounded space. It also uses exponentially less space than the more specialized methods of Kozen and Soloviev (2022) and Shao and Wang (2025) that generate i.i.d. samples from a fixed distribution. Our online sampling algorithm rests on a powerful algorithmic technique called \textit{randomness recycling}, which reuses a fraction of the random information consumed by a probabilistic algorithm to reduce its amortized entropy cost. On the practical side, we develop randomness recycling techniques to accelerate a variety of prominent sampling algorithms. We show that randomness recycling enables state-of-the-art runtime performance on the Fisher-Yates shuffle when using a cryptographically secure pseudorandom number generator, and that it reduces the entropy cost of discrete Gaussian sampling. Accompanying the manuscript is a performant software library in the C programming language.
Stronger Enforcement of Instruction Hierarchy via Augmented Intermediate Representations
Venue: arXiv cs.AI 2026
Year: 2026

Prompt injection attacks are a critical security vulnerability in large language models (LLMs), allowing attackers to hijack model behavior by injecting malicious instructions within the input context. Recent defense mechanisms have leveraged an Instruction Hierarchy (IH) Signal, often implemented through special delimiter tokens or additive embeddings to denote the privilege level of input tokens. However, these prior works typically inject the IH signal exclusively at the initial input layer, which we hypothesize limits its ability to effectively distinguish the privilege levels of tokens as it propagates through the different layers of the model. To overcome this limitation, we introduce a novel approach that injects the IH signal into the intermediate token representations within the network. Our method augments these representations with layer-specific trainable embeddings that encode the privilege information. Our evaluations across multiple models and training methods reveal that our proposal yields between $1.6\times$ and $9.2\times$ reduction in attack success rate on gradient-based prompt injection attacks compared to state-of-the-art methods, without significantly degrading the model's utility.
Can Large Language Models Infer Causal Relationships from Real-World Text?
Venue: arXiv cs.AI 2026
Year: 2026

Understanding and inferring causal relationships from texts is a core aspect of human cognition and is essential for advancing large language models (LLMs) towards artificial general intelligence. Existing work evaluating LLM causal reasoning primarily relies on synthetic or simplified texts with explicitly stated causal relationships. These texts typically feature short passages and few causal relations, failing to reflect the complexities of real-world reasoning. In this paper, we investigate whether LLMs are capable of inferring causal relationships from real-world texts. We develop a benchmark drawn from real-world academic literature, which includes diverse texts with respect to length, complexity (different levels of explicitness, number of causal events and relationships), and domain. To the best of our knowledge, our benchmark is the first-ever real-world dataset for this task. Our experiments on this dataset show that LLMs face significant challenges in inferring causal relationships from real-world text, with the best-performing model achieving an average F$_1$ score of only 0.535. Through systematic analysis across aspects of real-world text (explicitness, number of causal events and relationships, length of text, domain), our benchmark offers targeted insights for further research into advancing LLM causal reasoning. Our code and dataset can be found at https://github.com/Ryan-Saklad/ReCITE .
VTool-R1: VLMs Learn to Think with Images via Reinforcement Learning on Multimodal Tool Use
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement Learning Finetuning (RFT) has significantly advanced the reasoning capabilities of large language models (LLMs) by enabling long chains of thought, self-correction, and effective tool use. While recent works attempt to extend RFT to vision-language models (VLMs), these efforts largely produce text-only reasoning conditioned on static image inputs, falling short of true multimodal reasoning in the response. In contrast, test-time methods like Visual Sketchpad incorporate visual steps but lack training mechanisms. We introduce VTool-R1, the first framework that trains VLMs to generate multimodal chains of thought by interleaving text and intermediate visual reasoning steps. VTool-R1 integrates Python-based visual editing tools into the RFT process, enabling VLMs to learn when and how to generate visual reasoning steps that benefit final reasoning. Trained with outcome-based rewards tied to task accuracy, our approach elicits strategic visual tool use for reasoning without relying on process-based supervision. Experiments on structured visual question answering over charts and tables show that VTool-R1 enhances reasoning performance by teaching VLMs to "think with images" and generate multimodal chain of thoughts with tools. To support future research in multi-turn multi-modal reasoning, we open-source our code at https://github.com/VTOOL-R1/vtool-r1
f4ncgb: High Performance Gröbner Basis Computations in Free Algebras
Venue: arXiv cs.MS 2026
Year: 2026

We present f4ncgb, a new open-source C++ library for Gröbner basis computations in free algebras, which transfers recent advancements in commutative Gröbner basis software to the noncommutative setting. As our experiments show, f4ncgb establishes a new state-of-the-art for noncommutative Gröbner basis computations. We also discuss implementation details and design choices.
Style2Code: A Style-Controllable Code Generation Framework with Dual-Modal Contrastive Representation Learning
Venue: arXiv cs.AI 2026
Year: 2026

Controllable code generation, the ability to synthesize code that follows a specified style while maintaining functionality, remains a challenging task. We propose a two-stage training framework combining contrastive learning and conditional decoding to enable flexible style control. The first stage aligns code style representations with semantic and structural features. In the second stage, we fine-tune a language model (e.g., Flan-T5) conditioned on the learned style vector to guide generation. Our method supports style interpolation and user personalization via lightweight mixing. Compared to prior work, our unified framework offers improved stylistic control without sacrificing code correctness. This is among the first approaches to combine contrastive alignment with conditional decoding for style-guided code generation.
Your Classifier Can Do More: Towards Balancing the Gaps in Classification, Robustness, and Generation
Venue: arXiv cs.LG 2026
Year: 2026

Joint Energy-based Models (JEMs) are well known for their ability to unify classification and generation within a single framework. Despite their promising generative and discriminative performance, their robustness remains far inferior to adversarial training (AT), which, conversely, achieves strong robustness but sacrifices clean accuracy and lacks generative ability. This inherent trilemma-balancing classification accuracy, robustness, and generative capability-raises a fundamental question: Can a single model achieve all three simultaneously? To answer this, we conduct a systematic energy landscape analysis of clean, adversarial, and generated samples across various JEM and AT variants. We observe that AT reduces the energy gap between clean and adversarial samples, while JEMs narrow the gap between clean and synthetic ones. This observation suggests a key insight: if the energy distributions of all three data types can be aligned, we might bridge their performance disparities. Building on this idea, we propose Energy-based Joint Distribution Adversarial Training (EB-JDAT), a unified generative-discriminative-robust framework that maximizes the joint probability of clean and adversarial distribution. EB-JDAT introduces a novel min-max energy optimization to explicitly aligning energies across clean, adversarial, and generated samples. Extensive experiments on CIFAR-10, CIFAR-100, and ImageNet subsets demonstrate that EB-JDAT achieves state-of-the-art robustness while maintaining near-original accuracy and competitive generation quality of JEMs, effectively achieving a new trade-off frontier between accuracy, robustness, and generation. The code is released at https://github.com/yujkc/EB-JDAT.
Weak-Jamming Detection in IEEE 802.11 Networks: Techniques, Scenarios and Mobility
Venue: arXiv cs.CR 2026
Year: 2026

State-of-the-art solutions detect jamming attacks ex-post, i.e., only when jamming has already disrupted the wireless communication link. In many scenarios, e.g., mobile networks or static deployments distributed over a large geographical area, it is often desired to detect jamming at the early stage, when it affects the communication link enough to be detected but not sufficiently to disrupt it (detection of weak jamming signals). Under such assumptions, devices can enhance situational awareness and promptly apply mitigation, e.g., moving away from the jammed area in mobile scenarios or changing communication frequency in static deployments, before jamming fully disrupts the communication link. Although some contributions recently demonstrated the feasibility of detecting low-power and weak jamming signals, they make simplistic assumptions far from real-world deployments. Given the current state of the art, no evidence exists that detection of weak jamming can be considered with real-world communication technologies. In this paper, we provide and comprehensively analyze new general-purpose strategies for detecting weak jamming signals, compatible by design with one of the most relevant communication technologies used by commercial-off-the-shelf devices, i.e., IEEE 802.11. We describe two operational modes: (i) binary classification via Convolutional Neural Networks and (ii) one-class classification via Sparse Autoencoders. We evaluate and compare the proposed approaches with the current state-of-the-art using data collected through an extensive real-world experimental campaign in three relevant environments. At the same time, we made the dataset available to the public. Our results demonstrate that detecting weak jamming signals is feasible in all considered real-world environments, and we provide an in-depth analysis considering different techniques, scenarios, and mobility patterns.
Interleaved Reasoning for Large Language Models via Reinforcement Learning
Venue: arXiv cs.CL 2026
Year: 2026

Long chain-of-thought (CoT) significantly enhances the reasoning capabilities of large language models (LLMs). However, extensive reasoning traces lead to inefficiencies and increased time-to-first-token (TTFT). We propose a training paradigm that uses only reinforcement learning (RL) to guide reasoning LLMs to interleave thinking and answering for multi-hop questions. We observe that models inherently possess the ability to perform interleaved reasoning, which can be further enhanced through RL. We introduce a simple yet effective reward scheme to incentivize correct intermediate steps, guiding the policy model toward correct reasoning paths by leveraging intermediate signals generated during interleaved reasoning. Extensive experiments across five diverse datasets and three RL algorithms (PPO, GRPO, and REINFORCE++) demonstrate consistent improvements over traditional think-answer reasoning, without requiring external tools. Our method improves final task accuracy and overall efficiency by enabling more effective credit assignment during RL. Specifically, our approach achieves a 12.5% improvement in Pass@1 accuracy, while reducing overall reasoning length by 37% and TTFT by over 80% on average. Furthermore, our method, trained solely on question answering and logical reasoning datasets, exhibits strong generalization to complex reasoning datasets such as MATH, GPQA, and MMLU. Additionally, we conduct in-depth analysis to reveal several valuable insights into conditional reward modeling.